Transcribed notes from the trip:

Livermore visit:
Don Muellonhof
	Ucompany RISC Module Systems:
	Developed specs and gave it to them
	Needed minor mod of existing design/(board?)
	Bob Peterson actually built one
	Task: Parallel I/O for actuator control, std serial ports interface
	Mass was an issue: Originally needed 40 PALs;
		Replaced with 4 mass gate arrays
			LSI logic (big), Orbit Semiconductor, Zylog, NEC, IDT
			All have small feature sizes
	The board is all CMOS ~ 10 W (mainly CPU)
	CPU 66 MHz, Bus 33 MHz
	< 1 year time, the unit worked the first time (off the bat)
	Mem: Interleaved DRAM
	DRAM: Feature size is smaller, but charge is being maintained
	Tests show DRAM upsets ~ SRAM upsets
	Cannot use for long periods as there is no heat sinking on the CPU
	Regular chips -55 < case temp < 85 C
	Mil           -55 < case temp < 135 C
	Placement near motors, may (will) need shielding
	Watchdog timer: In every controller
	Distributed Vs Single: Distribute it
		Better isolation if power is distributed
	Low power, 8 bit controllers: 8051 -> can buy a complete set with
	  memory and serial interface; Power: ~2W
	Microcontrollers can be used to simulate the system
	IDT: 4600:64 bits -> 100 MIPS -> look into 3.3 V
	3081: 33 MHz, 27-28 MIPS, 10-11 MFLOPS, 5 W - scalable
	PowerPC can be good
	Way to find controller makers is to go to CHIP maker and ask for 
	  primary customers
	Cost: $500k, including 6 (PAL) + 6 (G array) prototypes
	Of tyhis 150 k : To run a mass gate array on a line


Daryl Pines:
	Gimbal: 50 uRad accy, steady state in lab platform
	Bandwidth = 10 Hz for small angles
	mass ~ 4 kg
	Inertia: 250g - 500g mirror
	Jitter stability: 10 uRad over 100 msec
	PID on each axis
	Designed for MSTI
	Disturbances: prob. vibration: 42 g rms, 0 - 200 Hz -(filter
	   fus-airplane) - 1 Hz - 120 Hz
	Used Mil Standards & followed them
	Internationa Space Directory is recommended 
		Companies: Dow Corning, 3M - (industrial, space rated, comer.)
	Honeywell IMU susceptible to: 10 g RMS, 20 Hz - 2000 Hz
	12-14 mo for next Gimbal